To provide a retreat control device of a combination vehicle and a retreat control program of a combination vehicle which can more appropriately support retreat operation of a combination vehicle.SOLUTION: A combination vehicle has a tractor, and a trailer 12 towed by the tractor. The tractor is mounted with a steering control device for executing feedback control of making a steering angle of a front wheel interlocked with operation of a steering wheel follow a target steering angle. When retreat operation of the combination vehicle is performed, a retreat control device of a combination vehicle calculates the target steering angle of the tractor so that a virtual steering angle α2 that is a steering angle of a virtual steering wheel of the trailer 12 when the trailer 12 is regarded as a single vehicle follows a target virtual steering angle that is a target value of a virtual steering angle α2 set through specific operation by an operator.SELECTED DRAWING: Figure 4

    【課題】連結車両の後退操作をより適切に支援することができる連結車両の後退制御装置および連結車両の後退制御プログラムを提供する。【解決手段】連結車両は、トラクタと、トラクタによって牽引されるトレーラ12とを有する。トラクタには、ステアリングホイールの操作に連動する前輪の操舵角を目標操舵角に追従させるフィードバック制御を実行する操舵制御装置が搭載される。連結車両の後退制御装置は、連結車両の後退操作が行われるとき、トレーラ12を単体車両とみなした場合のトレーラ12の仮想的な操舵輪の操舵角である仮想操舵角α2が、操作者による特定の操作を通じて設定される仮想操舵角α2の目標値である目標仮想操舵角に追従するように、トラクタの目標操舵角を演算する。【選択図】図4


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    Title :

    RETREAT CONTROL DEVICE OF COMBINATION VEHICLE AND RETREAT CONTROL PROGRAM OF COMBINATION VEHICLE


    Additional title:

    連結車両の後退制御装置および連結車両の後退制御プログラム


    Contributors:

    Publication date :

    2023-01-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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